Elmo DSP 305 3.3Configuration Services, 3.3.1Configuration Node-ID, 8Switch the Node-IDof a Slave

CANopen DSP 305 Implementation Guide

MAN-CAN305IG (Ver. 1.1)

3-4

3.3Configuration Services

Configuration services are available only in configuration mode. Some of the services are only available to one LSS Slave device.

3.3.1Configuration Node-ID

This service enables the LSS Master to configure the NMT-address of an LSS Slave. Only one LSS Slave at a time can be configured with this service. A remote result message confirms the success or failure of the service.

This service works in Configuration Mode. A change in the Node-ID causes a power- on like reset to the device.

COB-ID = 7E5h
0 CS		1 NID 2		3	4	5	6		7	8
	17		##					CiA
					reserved for future use by

Figure 3-8 Switch the Node-ID of a Slave

NID (Node-ID):

If NID is set to FFh it becomes invalid when switching to operation mode. As a result, the slave enters the ‘LSS Init State’ autonomously.

COB-ID = 7E4h					Specific
0 CS		1	Error	2		3	4	5	6	7	8
			Code		Error
	17		##		##
								reserved for future use by CiA

Figure 3-9 Confirm the Node-ID of a Slave

Error Codes:

0:protocol successfully completed

1:Node-ID out of range

2 ... 254: reserved for further use by CiA

255: implementation specific error occured.

Specific Error Codes:

If error_code is 0 … 254, then a specific_error_code will be 0.

If error_code is 255, then a specific_error_code will be:

2:incorrect mode

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